COBOT Raspberry Pi pins Configuration:

Each mecanum wheel has a separate DC Motor and Encoder connected to it. Each motor has a
motor driver (IBT 2). Each motor driver has three pins connected to the Raspberry pi. The
voltage is supplied by the battery.
Each DC motor driver has three connections with the raspberry pi. These pins are labeled as
PWM, LPWM and RPWM. The pins labeled LPWM and RPWM are used to control the direction
of the motor. The PWM pin is to provide a PWM signal to the driver. Moreover, motor driver
also has 4 pins labeled as B-, B+, M+, M-. The pins labeled M are connected to the DC motor
and the pins labeled B are connected to the power supply. A 5V power supply and a ground are
attached to the motor driver through Raspberry pi.
FL driver represents the motor driver for front left wheel.
FR driver represents the motor driver for front right wheel.
RL driver represents the motor driver for rear left wheel.
RR driver represents the motor driver for rear right wheel.
The following table gives the exact pin configurations of each motor driver:

Motor Driver GPIO Pin number

Front Left wheel motor driver (FR):
• PWM • 13
• LPWM • 20
• RPWM • 21

Front Left wheel motor driver (FL):

• PWM • 19
• LPWM • 5
• RPWM • 6

Front Left wheel motor driver (RR):

• PWM • 12
• LPWM • 14
• RPWM • 15

Front Left wheel motor driver (RL):

• PWM • 18
• LPWM • 23
• RPWM • 24
The following figure shows the COBOT electrical circuit. The detailed in connections are
provided in the table above.

Figure 1: COBOT Electrical Assembly